function constraintsFancyF=generateConstraintsFancyF(Hu, cB, horizon, constraintsF)
rConstraintsF = size(constraintsF, 1);
constraintsFancyF = zeros(rConstraintsF, cB * horizon);
constraintsFancyFElement = zeros(rConstraintsF, cB);

for i=Hu:-1:1
    [startPointer endPointer] = getPointers(i, cB);
    
    constraintsFElement = constraintsF(1:end, startPointer:endPointer);
    
    constraintsFancyFElement = constraintsFancyFElement + constraintsFElement;
    
    if (i <= horizon)
        constraintsFancyF(1:end, startPointer:endPointer) = constraintsFancyFElement;
    end
end
end